Adaptive robust motion control of single-rod hydraulic actuators: Theory and experiments

Abstract

High performance robust motion control of single-rod hydraulic actuators is considered. In contrast to the double-rod hydraulic actuators studied previously, the two chambers of a single-rod hydraulic actuator have different areas. As a result, the dynamic equations describing the pressure changes in the two chambers cannot be combined into a single load pressure equation. This complicates the controller design since it not only increases the dimension of the system to be dealt with but also brings in the stability issue of the added internal dynamics. A discontinuous projection based adaptive robust controller (ARC) is constructed. The controller is able to take into account not only the effect of parameter variations coming from the inertia load and various hydraulic parameters but also the effect of hard-to-model nonlinearities such as uncompensated friction forces and external disturbances. Extensive experimental results are obtained for the swing motion control of a hydraulic arm. In comparison to a state-of-the-art industrial motion controller, the proposed ARC algorithm achieves more than a magnitude reduction of tracking errors. Furthermore, during constant velocity and regulation periods, the ARC controller reduces the tracking errors almost down to the measurement resolution level.